mirror of
https://github.com/openmv/openmv.git
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454 lines
15 KiB
Makefile
454 lines
15 KiB
Makefile
# SPDX-License-Identifier: MIT
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#
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# Copyright (C) 2020-2024 OpenMV, LLC.
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#
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# Permission is hereby granted, free of charge, to any person obtaining a copy
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# of this software and associated documentation files (the "Software"), to deal
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# in the Software without restriction, including without limitation the rights
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# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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# copies of the Software, and to permit persons to whom the Software is
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# furnished to do so, subject to the following conditions:
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#
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# The above copyright notice and this permission notice shall be included in
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# all copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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# THE SOFTWARE.
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# Set startup and system files based on MCU.
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LDSCRIPT ?= nrf52xxx
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HAL_DIR ?= hal/nrfx
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SYSTEM ?= nrf/system_nrf52840
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STARTUP ?= nrf/startup_$(shell echo $(MCU) | tr '[:upper:]' '[:lower:]')
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MCU_LOWER := $(shell echo $(MCU) | tr '[:upper:]' '[:lower:]')
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export SD_DIR = $(TOP_DIR)/drivers/nrf
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# Compiler Flags
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CFLAGS += -std=gnu99 \
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-Wall \
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-Werror \
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-Warray-bounds \
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-mthumb \
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-nostartfiles \
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-fdata-sections \
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-ffunction-sections
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CFLAGS += -D$(MCU) \
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-DARM_NN_TRUNCATE \
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-D__FPU_PRESENT=1 \
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-D__VFP_FP__ \
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-D$(TARGET) \
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-fsingle-precision-constant \
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-Wdouble-promotion \
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-mcpu=$(CPU) \
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-mtune=$(CPU) \
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-mfpu=$(FPU) \
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-mfloat-abi=hard \
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-DCMSIS_MCU_H='<$(MCU_LOWER).h>' \
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-DMP_PORT_NO_SOFTTIMER \
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$(OMV_BOARD_CFLAGS)
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# Disable LTO and set the SD
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MPY_MKARGS += LTO=0 SD=$(SD)
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HAL_CFLAGS += -I$(TOP_DIR)/$(CMSIS_DIR)/include/
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HAL_CFLAGS += -I$(TOP_DIR)/$(CMSIS_DIR)/include/nrf
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HAL_CFLAGS += -I$(TOP_DIR)/$(HAL_DIR)/include/
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HAL_CFLAGS += -I$(TOP_DIR)/$(HAL_DIR)/include/hal/
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HAL_CFLAGS += -I$(TOP_DIR)/$(HAL_DIR)/include/soc/
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HAL_CFLAGS += -I$(TOP_DIR)/$(HAL_DIR)/include/prs/
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ifeq ($(MICROPY_PY_ULAB), 1)
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MPY_CFLAGS += -DMP_NEED_LOG2
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endif
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MPY_CFLAGS += -I$(MP_BOARD_CONFIG_DIR)
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MPY_CFLAGS += -I$(BUILD)/$(MICROPY_DIR)/
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MPY_CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/
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MPY_CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/py/
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MPY_CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/lib/mp-readline
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MPY_CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/lib/oofatfs
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MPY_CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/lib/tinyusb/src
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MPY_CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/ports/nrf
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MPY_CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/ports/nrf/drivers/usb
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MPY_CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/ports/nrf/drivers/bluetooth
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MPY_CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/ports/nrf/modules/machine
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MPY_CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/ports/nrf/modules/ubluepy
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MPY_CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/ports/nrf/modules/music
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MPY_CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/ports/nrf/modules/ble
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MPY_CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/ports/nrf/modules/board
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MPY_CFLAGS += -I$(TOP_DIR)/drivers/nrf/$(NRF_SOFTDEV)/$(NRF_SOFTDEV)_API/include/
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OMV_CFLAGS += -I$(OMV_BOARD_CONFIG_DIR)
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OMV_CFLAGS += -I$(TOP_DIR)/$(OMV_DIR)/
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OMV_CFLAGS += -I$(TOP_DIR)/$(OMV_DIR)/alloc/
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OMV_CFLAGS += -I$(TOP_DIR)/$(OMV_DIR)/common/
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OMV_CFLAGS += -I$(TOP_DIR)/$(OMV_DIR)/imlib/
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OMV_CFLAGS += -I$(TOP_DIR)/$(OMV_DIR)/modules/
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OMV_CFLAGS += -I$(TOP_DIR)/$(OMV_DIR)/sensors/
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OMV_CFLAGS += -I$(TOP_DIR)/$(OMV_DIR)/ports/$(PORT)/
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OMV_CFLAGS += -I$(TOP_DIR)/$(OMV_DIR)/ports/$(PORT)/modules/
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OMV_CFLAGS += -I$(TOP_DIR)/$(LEPTON_DIR)/include/
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OMV_CFLAGS += -I$(TOP_DIR)/$(LSM6DS3_DIR)/include/
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OMV_CFLAGS += -I$(TOP_DIR)/$(WINC1500_DIR)/include/
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OMV_CFLAGS += -I$(TOP_DIR)/$(MLX90621_DIR)/include/
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OMV_CFLAGS += -I$(TOP_DIR)/$(MLX90640_DIR)/include/
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OMV_CFLAGS += -I$(TOP_DIR)/$(MLX90641_DIR)/include/
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OMV_CFLAGS += -I$(TOP_DIR)/$(TENSORFLOW_DIR)/$(CPU)/
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OMV_CFLAGS += -I$(TOP_DIR)/$(LIBPDM_DIR)/
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CFLAGS += $(HAL_CFLAGS) $(MPY_CFLAGS) $(OMV_CFLAGS)
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# Linker Flags
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LDFLAGS = -mcpu=$(CPU) \
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-mabi=aapcs-linux \
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-mthumb \
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-mfpu=$(FPU) \
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-mfloat-abi=hard \
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-nostdlib \
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-Wl,--gc-sections \
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-Wl,--print-memory-usage \
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-Wl,--wrap=mp_usbd_task \
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-Wl,--wrap=tud_cdc_rx_cb \
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-Wl,--wrap=mp_hal_stdio_poll \
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-Wl,--wrap=mp_hal_stdout_tx_strn \
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-Wl,--no-warn-rwx-segment \
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-Wl,-Map=$(BUILD)/$(FIRMWARE).map \
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-Wl,-T$(BUILD)/$(LDSCRIPT).lds
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#------------- Firmware Objects ----------------#
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FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/dsp/CommonTables/*.o)
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FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/dsp/FastMathFunctions/*.o)
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FIRM_OBJ += $(wildcard $(BUILD)/$(HAL_DIR)/src/*.o)
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FIRM_OBJ += $(wildcard $(BUILD)/$(LEPTON_DIR)/src/*.o)
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ifeq ($(MICROPY_PY_IMU), 1)
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FIRM_OBJ += $(wildcard $(BUILD)/$(LSM6DS3_DIR)/src/*.o)
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endif
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ifeq ($(MICROPY_PY_WINC1500), 1)
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FIRM_OBJ += $(wildcard $(BUILD)/$(WINC1500_DIR)/src/*.o)
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endif
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FIRM_OBJ += $(wildcard $(BUILD)/$(MLX90621_DIR)/src/*.o)
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FIRM_OBJ += $(wildcard $(BUILD)/$(MLX90640_DIR)/src/*.o)
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FIRM_OBJ += $(wildcard $(BUILD)/$(MLX90641_DIR)/src/*.o)
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#------------- OpenMV Objects ----------------#
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FIRM_OBJ += $(addprefix $(BUILD)/$(CMSIS_DIR)/src/, \
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$(STARTUP).o \
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$(SYSTEM).o \
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)
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FIRM_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/alloc/, \
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xalloc.o \
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fb_alloc.o \
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umm_malloc.o \
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dma_alloc.o \
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unaligned_memcpy.o \
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)
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FIRM_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/common/, \
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array.o \
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ringbuf.o \
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trace.o \
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mutex.o \
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pendsv.o \
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usbdbg.o \
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tinyusb_debug.o \
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file_utils.o \
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mp_utils.o \
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omv_csi.o \
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)
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FIRM_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/sensors/, \
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ov2640.o \
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ov5640.o \
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ov7670.o \
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ov7690.o \
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ov7725.o \
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ov9650.o \
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mt9v0xx.o \
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mt9m114.o \
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lepton.o \
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hm01b0.o \
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)
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FIRM_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/imlib/, \
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agast.o \
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apriltag.o \
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bayer.o \
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binary.o \
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blob.o \
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bmp.o \
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clahe.o \
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collections.o \
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dmtx.o \
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draw.o \
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edge.o \
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eye.o \
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fast.o \
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fft.o \
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filter.o \
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fmath.o \
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font.o \
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framebuffer.o \
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fsort.o \
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gif.o \
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haar.o \
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hog.o \
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hough.o \
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imlib.o \
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integral.o \
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integral_mw.o \
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isp.o \
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jpegd.o \
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jpege.o \
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lodepng.o \
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png.o \
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kmeans.o \
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lab_tab.o \
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lbp.o \
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line.o \
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lsd.o \
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mathop.o \
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mjpeg.o \
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orb.o \
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phasecorrelation.o \
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point.o \
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ppm.o \
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qrcode.o \
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qsort.o \
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rainbow_tab.o \
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rectangle.o \
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selective_search.o \
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sincos_tab.o \
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stats.o \
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stereo.o \
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template.o \
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xyz_tab.o \
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yuv.o \
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zbar.o \
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)
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FIRM_OBJ += $(wildcard $(BUILD)/$(OMV_DIR)/ports/$(PORT)/*.o)
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FIRM_OBJ += $(wildcard $(BUILD)/$(MICROPY_DIR)/modules/*.o)
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FIRM_OBJ += $(wildcard $(BUILD)/$(MICROPY_DIR)/modules/nrf/*.o)
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FIRM_OBJ += $(wildcard $(BUILD)/$(MICROPY_DIR)/ports/$(PORT)/modules/*.o)
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#------------- MicroPy Objects -------------------#
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FIRM_OBJ += $(wildcard $(BUILD)/$(MICROPY_DIR)/py/*.o)
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FIRM_OBJ += $(wildcard $(BUILD)/$(MICROPY_DIR)/boards/$(TARGET)/*.o)
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FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/,\
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mphalport.o \
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help.o \
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gccollect.o \
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pins_gen.o \
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pin_named_pins.o \
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fatfs_port.o \
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drivers/flash.o \
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drivers/rng.o \
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drivers/softpwm.o \
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drivers/ticker.o \
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drivers/bluetooth/ble_drv.o \
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drivers/bluetooth/ble_uart.o \
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drivers/usb/usb_cdc.o \
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frozen_content.o \
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)
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FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/extmod/,\
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machine_adc.o \
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machine_adc_block.o \
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machine_i2c.o \
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machine_spi.o \
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machine_pwm.o \
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machine_mem.o \
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machine_uart.o \
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machine_signal.o \
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modjson.o \
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modselect.o \
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modre.o \
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modframebuf.o \
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modasyncio.o \
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moductypes.o \
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modhashlib.o \
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moddeflate.o \
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modheapq.o \
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modbinascii.o \
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modrandom.o \
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modtime.o \
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modvfs.o \
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os_dupterm.o \
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modmachine.o \
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modos.o \
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modplatform.o \
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vfs.o \
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vfs_fat.o \
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vfs_lfs.o \
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vfs_fat_file.o \
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vfs_fat_diskio.o \
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vfs_reader.o \
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vfs_blockdev.o \
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virtpin.o \
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)
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FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/lib/,\
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littlefs/*.o \
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tinyusb/src/common/tusb_fifo.o \
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tinyusb/src/device/usbd.o \
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tinyusb/src/device/usbd_control.o \
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tinyusb/src/class/cdc/cdc_device.o \
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tinyusb/src/tusb.o \
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tinyusb/src/portable/nordic/nrf5x/dcd_nrf5x.o \
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)
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FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/shared/,\
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libc/printf.o \
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libc/string0.o \
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runtime/pyexec.o \
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runtime/mpirq.o \
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runtime/interrupt_char.o \
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runtime/sys_stdio_mphal.o \
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runtime/stdout_helpers.o \
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timeutils/timeutils.o \
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readline/readline.o \
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tinyusb/mp_usbd.o \
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tinyusb/mp_usbd_cdc.o \
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tinyusb/mp_usbd_descriptor.o \
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)
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FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/lib/libm/,\
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math.o \
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fmodf.o \
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nearbyintf.o \
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ef_sqrt.o \
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erf_lgamma.o \
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kf_rem_pio2.o \
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kf_sin.o \
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kf_cos.o \
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kf_tan.o \
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ef_rem_pio2.o \
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sf_sin.o \
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sf_cos.o \
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sf_tan.o \
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sf_frexp.o \
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sf_modf.o \
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sf_ldexp.o \
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sf_erf.o \
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asinfacosf.o \
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atanf.o \
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atan2f.o \
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roundf.o \
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log1pf.o \
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acoshf.o \
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asinhf.o \
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atanhf.o \
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wf_lgamma.o \
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wf_tgamma.o \
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)
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FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/modules/,\
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machine/spi.o \
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machine/i2c.o \
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machine/pin.o \
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machine/timer.o \
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machine/rtcounter.o \
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machine/temp.o \
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os/microbitfs.o \
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board/modboard.o \
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board/led.o \
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ubluepy/modubluepy.o \
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ubluepy/ubluepy_peripheral.o \
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ubluepy/ubluepy_service.o \
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ubluepy/ubluepy_characteristic.o \
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ubluepy/ubluepy_uuid.o \
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ubluepy/ubluepy_delegate.o \
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ubluepy/ubluepy_constants.o \
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ubluepy/ubluepy_descriptor.o \
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ubluepy/ubluepy_scanner.o \
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ubluepy/ubluepy_scan_entry.o \
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music/modmusic.o \
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music/musictunes.o \
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ble/modble.o \
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)
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ifeq ($(MICROPY_PY_ULAB), 1)
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FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/modules/ulab/code/,\
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ndarray.o \
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ndarray_operators.o \
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ndarray_properties.o \
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numpy/approx.o \
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numpy/bitwise.o \
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numpy/carray/carray.o \
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numpy/carray/carray_tools.o \
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numpy/compare.o \
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numpy/create.o \
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numpy/fft/fft.o \
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numpy/fft/fft_tools.o \
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numpy/filter.o \
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numpy/io/io.o \
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numpy/linalg/linalg.o \
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numpy/linalg/linalg_tools.o \
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numpy/ndarray/ndarray_iter.o \
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numpy/numerical.o \
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numpy/numpy.o \
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numpy/poly.o \
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numpy/random/random.o \
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numpy/stats.o \
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numpy/transform.o \
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numpy/vector.o \
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scipy/integrate/integrate.o \
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scipy/linalg/linalg.o \
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scipy/optimize/optimize.o \
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scipy/scipy.o \
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scipy/signal/signal.o \
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scipy/special/special.o \
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ulab.o \
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ulab_tools.o \
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user/user.o \
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utils/utils.o \
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)
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endif
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###################################################
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all: $(OPENMV)
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$(BUILD):
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$(MKDIR) -p $@
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$(FW_DIR):
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$(MKDIR) -p $@
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FIRMWARE_OBJS: | $(BUILD) $(FW_DIR)
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$(MAKE) -C $(CMSIS_DIR) BUILD=$(BUILD)/$(CMSIS_DIR) CFLAGS="$(CFLAGS) -fno-strict-aliasing -MMD"
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$(MAKE) -C $(MICROPY_DIR)/ports/$(PORT) BUILD=$(BUILD)/$(MICROPY_DIR) $(MPY_MKARGS)
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$(MAKE) -C $(HAL_DIR) BUILD=$(BUILD)/$(HAL_DIR) CFLAGS="$(CFLAGS) -MMD"
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$(MAKE) -C $(MLX90621_DIR) BUILD=$(BUILD)/$(MLX90621_DIR) CFLAGS="$(CFLAGS) -MMD"
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$(MAKE) -C $(MLX90640_DIR) BUILD=$(BUILD)/$(MLX90640_DIR) CFLAGS="$(CFLAGS) -MMD"
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$(MAKE) -C $(MLX90641_DIR) BUILD=$(BUILD)/$(MLX90641_DIR) CFLAGS="$(CFLAGS) -MMD"
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$(MAKE) -C $(OMV_DIR) BUILD=$(BUILD)/$(OMV_DIR) CFLAGS="$(CFLAGS) -MMD"
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$(FIRMWARE): FIRMWARE_OBJS
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$(CPP) -P -E -I$(OMV_COMMON_DIR) -I$(OMV_BOARD_CONFIG_DIR) \
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$(OMV_DIR)/ports/$(PORT)/$(LDSCRIPT).ld.S > $(BUILD)/$(LDSCRIPT).lds
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$(CC) $(LDFLAGS) $(FIRM_OBJ) -o $(FW_DIR)/$(FIRMWARE).elf $(LIBS) -lgcc
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$(OBJCOPY) -Oihex $(FW_DIR)/$(FIRMWARE).elf $(FW_DIR)/$(FIRMWARE).hex
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$(OBJCOPY) -Obinary $(FW_DIR)/$(FIRMWARE).elf $(FW_DIR)/$(FIRMWARE).bin
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# This target generates the firmware image.
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$(OPENMV): $(FIRMWARE)
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$(SIZE) $(FW_DIR)/$(FIRMWARE).elf
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size:
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$(SIZE) --format=SysV $(FW_DIR)/$(FIRMWARE).elf
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# Flash the main firmware image
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flash_image: $(FW_DIR)/$(FIRMWARE).hex
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nrfjprog --program $< --sectorerase -f nrf52
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nrfjprog --reset -f nrf52
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